Features
This is a function for temporarily suspending the currently active robot motion in the robot controller. It is ignored if there is no active robot motion.
Parameter
None.
Return
|
Value |
Description |
|
0 |
Error |
|
1 |
Success |
Example
C++
float j00[NUM_JOINT] = {0, 0, 90, 0, 90,};
drfl.amovej(j00, 20, 40); // Starts asynchronous motion
while (1) {
// Checks the current joint angle
LPPOSITION pPose = drfl.get_current_pose(ROBOT_POSE_JOINT);
if (pPose->_fTargetPos[2] >= 45) { // If the 3-axis angle is 45 degree or more,
drfl.move_pause(); // it temporarily stops the motion.
Sleep(5000); // Waits for 5 seconds.
break; // Terminates while statement.
}
}
drfl.move_resume(); // Resumes the motion.